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CN106324273B - Method for processing angular velocity data acquired by angular velocity detection device - Google Patents

Method for processing angular velocity data acquired by angular velocity detection device Download PDF

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CN106324273B
CN106324273B CN201510339642.9A CN201510339642A CN106324273B CN 106324273 B CN106324273 B CN 106324273B CN 201510339642 A CN201510339642 A CN 201510339642A CN 106324273 B CN106324273 B CN 106324273B
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angular velocity
velocity data
data
data sequence
analog
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CN106324273A (en
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凌向明
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SHANGHAI JINYI INSPECTION TECHNOLOGY Co Ltd
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SHANGHAI JINYI INSPECTION TECHNOLOGY Co Ltd
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Abstract

The invention discloses a kind of processing methods of angular velocity data obtained using angular speed detecting apparatus, the speed sensor signal output end of the device connects analog-digital converter signal input part, analog-digital converter signal output end connects RS485 interface module input terminal by signal cable, and RS485 interface module output end connects data collector.This method arranges angular velocity data from small to large, obtain angular velocity data sequence, calculate separately median, upper quartile and the lower quartile of angular velocity data sequence, and accordingly calculate angular velocity data sequence in enclose and periphery, the abnormal angular velocity data not enclosed inside with periphery is rejected, remaining angular velocity data is averaged the angular velocity data obtained as detection.The present apparatus is transmitted using multipath concurrence all-pass track data, is overcome the defect of conventional data transmission mode, is improved detection efficiency and precision；The effective rejecting abnormalities numerical value of this method, accurately obtains angular velocity data, ensure that the accurate automatic control of production equipment.

Description

Using the processing method for the angular velocity data that angular speed detecting apparatus obtains
Technical field
The present invention relates to a kind of processing methods of angular velocity data obtained using angular speed detecting apparatus.
Background technique
The velocity measuring that velocity sensor implements revolving part is widely used in industrial production at present, velocity sensor is by speed Or angular speed physical quantity be converted into electric signal output, for realize production equipment automatic control the purpose of.But at present The transmission of electric signal mostly uses greatly the transmission mode of single channel single-shot, and structure of the detecting device is complicated, and detection time is long, signal transmission Vulnerable to interference, detection accuracy is reduced, affects the accurate automatic control of production equipment；In addition, for the place of angular velocity data Manage relatively simple, the processing of especially abnormal numerical value lacks effective elimination method, influences the accurate acquisition of angular velocity data.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of angular velocity datas obtained using angular speed detecting apparatus Processing method, the device using multipath concurrence all-pass track data transmit, overcome the defect of conventional data transmission mode, avoid Signal transmission interference improves detection efficiency and precision；This method angular velocity data carry out statistical disposition, effective rejecting abnormalities Numerical value accurately obtains angular velocity data, ensure that the accurate automatic control of production equipment.
In order to solve the above technical problems, angular speed detecting apparatus of the present invention includes at least two velocity sensors, at least two A analog-digital converter, RS485 interface module, data collector and signal cable, the signal of at least two velocity sensor Output end is separately connected the signal input part of at least two analog-digital converter, the signal of at least two analog-digital converter Output end connects the input terminal of the RS485 interface module, the output end of the RS485 interface module by the signal cable Connect the data collector.
Further, the velocity sensor is rotary transformer.
Further, the signal cable is the signal line with shielded layer.
Further, the velocity sensor and analog-digital converter are four respectively.
Further, the data collector is central data processing module.
A kind of processing method of angular velocity data obtained by above-mentioned detection device includes the following steps:
Step 1: data collector is ranked up received angular velocity data, it is set in unit time T and inputs n altogether A angular velocity data, n >=4 arrange n angular velocity data from small to large, obtain angular velocity data sequence [W1、W2……Wn]；
Step 2: calculating the median Q of angular velocity data sequence2, Q2It is a number among angular velocity data sequence Strong point, if n is odd number, i.e. n=2k+1 then takes Q2=Wk+1, if n is even number, i.e. n=2k then takes Q2=(Wk+Wk+1)/2；
Step 3: calculating the lower quartile Q of angular velocity data sequence1, lower quartile expression is in angular velocity data sequence There are the data no more than 1/4 to be less than this number in column, if n can be divided exactly by 4, i.e. n=4j then takes Q1=Wj, as n cannot be whole by 4 It removes, i.e. n=4j+i, wherein i≤3, then takes Q1=(Wj+Wj+1)/2；
Step 4: calculating the upper quartile Q of angular velocity data sequence3, upper quartile expression is in angular velocity data sequence There are the data no more than 1/4 to be greater than this number in column, if n can be divided exactly by 4, i.e. n=4j then takes Q3=Wn-j+1, as n cannot be by 4 Divide exactly, i.e. n=4j+i, wherein i≤3, then takes Q3=(Wn-j+Wn-j+1)/2；
Step 5: calculating the interior of angular velocity data sequence encloses [X1,X2] and periphery [Y1,Y2]
X1=Q1-1.5(Q2-Q1), X2=Q3+1.5(Q2-Q1),
Y1=Q1-3(Q2-Q1), Y2=Q3+3(Q2-Q1)；
Step 6, abnormal angular velocity data is rejected, by angular velocity data sequence [W1、W2……Wn] in neither inside enclose [X1,X2] again not in periphery [Y1,Y2] data as exceptional value all reject；
Step 7: each angular velocity data for eliminating exceptional value to be averaged to the angular velocity data obtained as detection.
Since the present invention uses above-mentioned technology using the processing method of the angular velocity data of angular speed detecting apparatus acquisition Scheme, the i.e. signal output end of at least two velocity sensors of the device connect the signal input of at least two analog-digital converters End, the signal output end of at least two analog-digital converters connect the input terminal of RS485 interface module, RS485 by signal cable The output end of interface module connects data collector.This method arranges angular velocity data from small to large, obtains angular velocity data Sequence calculates separately median, upper quartile and the lower quartile of angular velocity data sequence, and calculates angular speed number accordingly According to being enclosed in sequence and periphery, rejects and do not enclose inside and the abnormal angular velocity data of periphery, remaining angular velocity data is averaged The angular velocity data obtained as detection.The device is transmitted using multipath concurrence all-pass track data, overcomes conventional data transmission The defect of mode avoids signal transmission interference, improves detection efficiency and precision；This method angular velocity data carry out Statistics Division Reason, effective rejecting abnormalities numerical value accurately obtain angular velocity data, ensure that the accurate automatic control of production equipment.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and embodiments:
Fig. 1 is the functional block diagram of angular speed detecting apparatus in the present invention.
Specific embodiment
Embodiment is as shown in Figure 1, angular speed detecting apparatus includes at least two velocity sensors 1, at least two in the present invention A analog-digital converter 2, RS485 interface module 4, data collector 5 and signal cable 3, at least two velocity sensor 1 Signal output end is separately connected the signal input part of at least two analog-digital converter 2, at least two analog-digital converter 2 Signal output end the input terminal of the RS485 interface module 4, the RS485 interface module are connected by the signal cable 3 4 output end connects the data collector 5.
Preferably, the velocity sensor 1 is rotary transformer.
Preferably, the signal cable 3 is the signal line with shielded layer, is done with shielding production scene to signal transmission It disturbs, improve data transfer precision.
Preferably, the velocity sensor 1 and analog-digital converter 2 are four respectively.
Preferably, the data collector 5 is central data processing module, such as industry control micro computer, is used for multipath concurrence The data of transmission carry out subsequent processing, realize the automatic control of production equipment.
This detection device is in use, velocity sensor is set on the revolving part of speed to be measured, by the speed of revolving part or angle Speed physical quantity electric signal input analog-to-digital converter, analog-digital converter convert analog signals into after digital signal with multipath concurrence Form input RS485 interface module, so as to realize multipath concurrence full tunnel signal transmission, RS485 module interface will The implementation of digital signal input data collector is further processed, to avoid signal transmission interference, is shortened detection time, is reduced work Make intensity.
A kind of processing method of angular velocity data obtained by above-mentioned detection device includes the following steps:
Step 1: data collector is ranked up received angular velocity data, it is set in unit time T and inputs n altogether A angular velocity data, n >=4 arrange n angular velocity data from small to large, obtain angular velocity data sequence [W1、W2……Wn]；
Step 2: calculating the median Q of angular velocity data sequence2, Q2It is a number among angular velocity data sequence Strong point, if n is odd number, i.e. n=2k+1 then takes Q2=Wk+1, if n is even number, i.e. n=2k then takes Q2=(Wk+Wk+1)/2；
Step 3: calculating the lower quartile Q of angular velocity data sequence1, lower quartile expression is in angular velocity data sequence There are the data no more than 1/4 to be less than this number in column, if n can be divided exactly by 4, i.e. n=4j then takes Q1=Wj, as n cannot be whole by 4 It removes, i.e. n=4j+i, wherein i≤3, then takes Q1=(Wj+Wj+1)/2；
Step 4: calculating the upper quartile Q of angular velocity data sequence3, upper quartile expression is in angular velocity data sequence There are the data no more than 1/4 to be greater than this number in column, if n can be divided exactly by 4, i.e. n=4j then takes Q3=Wn-j+1, as n cannot be by 4 Divide exactly, i.e. n=4j+i, wherein i≤3, then takes Q3=(Wn-j+Wn-j+1)/2；
Step 5: calculating the interior of angular velocity data sequence encloses [X1,X2] and periphery [Y1,Y2]
X1=Q1-1.5(Q2-Q1), X2=Q3+1.5(Q2-Q1),
Y1=Q1-3(Q2-Q1), Y2=Q3+3(Q2-Q1)；
Step 6, abnormal angular velocity data is rejected, by angular velocity data sequence [W1、W2……Wn] in neither inside enclose [X1,X2] again not in periphery [Y1,Y2] data as exceptional value all reject；
Step 7: each angular velocity data for eliminating exceptional value to be averaged to the angular velocity data obtained as detection.
This method is handled the angular velocity data obtained by angular speed detecting apparatus using Principle of Statistics, quantile It is to reflect that one kind of the central tendency of statistical data is estimated, passes through the distribution feelings of the entire sample data of quartile base instinct reflection Condition, quartile has a very important role in statistics and meaning.This method carries out four points to the angular velocity data of acquisition Digit calculates, and obtain accordingly angular velocity data it is effective in enclose and peripheral section, enclosed in rejecting and peripheral section outside angle speed Degree evidence, remaining angular velocity data, which is averaged, can be obtained effective, accurate angular velocity data.Angle speed treated by the present method Degree overcomes conventional angular velocity data acquisition and post-processes cumbersome, time-consuming defect, ensure that production equipment according to really, effectively Accurate automatic control.

Claims (1)

1.一种采用角速度检测装置获取的角速度数据的处理方法，所述角速度检测装置包括至少两个速度传感器、至少两个模数转换器、RS485接口模块、数据采集器和信号电缆，所述至少两个速度传感器的信号输出端分别连接所述至少两个模数转换器的信号输入端，所述至少两个模数转换器的信号输出端通过所述信号电缆连接所述RS485接口模块的输入端，所述RS485接口模块的输出端连接所述数据采集器，其特征在于本方法包括如下步骤：1. a method for processing angular velocity data obtained by adopting an angular velocity detection device, the angular velocity detection device comprising at least two speed sensors, at least two analog-to-digital converters, an RS485 interface module, a data collector and a signal cable, the at least two The signal output ends of the two speed sensors are respectively connected to the signal input ends of the at least two analog-to-digital converters, and the signal output ends of the at least two analog-to-digital converters are connected to the input of the RS485 interface module through the signal cable terminal, the output terminal of the RS485 interface module is connected to the data collector, and the method is characterized in that the method includes the following steps: 步骤一、数据采集器对接收的角速度数据进行排序，设定在单位时间T内共输入n个角速度数据，n≥4，将n个角速度数据从小到大排列，得到角速度数据序列[W1、W2……Wn]；Step 1. The data collector sorts the received angular velocity data, and sets a total of n angular velocity data input within the unit time T, n≥4, and arranges the n angular velocity data from small to large to obtain the angular velocity data sequence [W 1 , W 2 ......W n ]; 步骤二、计算角速度数据序列的中位数Q2，Q2是位于角速度数据序列中间的一个数据点，如n为奇数，即n=2k+1，则取Q2=Wk+1，如n为偶数，即n=2k，则取Q2=(Wk+Wk+1)/2；Step 2: Calculate the median Q 2 of the angular velocity data sequence. Q 2 is a data point located in the middle of the angular velocity data sequence. If n is an odd number, that is, n=2k+1, then take Q 2 =W k+1 , such as n is an even number, that is, n=2k, then take Q 2 =(W k +W k+1 )/2; 步骤三、计算角速度数据序列的下四分位数Q1，下四分位数表示在角速度数据序列中有不超过1/4的数据小于这个数，如n能被4整除，即n=4j，则取Q1=Wj，如n不能被4整除，即n=4j+i，其中i≤3，则取Q1=(Wj+Wj+1)/2；Step 3: Calculate the lower quartile Q 1 of the angular velocity data sequence. The lower quartile means that no more than 1/4 of the data in the angular velocity data sequence is smaller than this number. If n is divisible by 4, that is, n=4j , then take Q 1 =W j , if n is not divisible by 4, that is, n=4j+i, where i≤3, then take Q 1 =(W j +W j+1 )/2; 步骤四、计算角速度数据序列的上四分位数Q3，上四分位数表示在角速度数据序列中有不超过1/4的数据大于这个数，如n能被4整除，即n=4j，则取Q3=Wn-j+1，如n不能被4整除，即n=4j+i，其中i≤3，则取Q3=(Wn-j+Wn-j+1)/2；Step 4. Calculate the upper quartile Q 3 of the angular velocity data sequence. The upper quartile indicates that no more than 1/4 of the data in the angular velocity data sequence is greater than this number. If n can be divisible by 4, that is, n=4j , then take Q 3 =W n-j+1 , if n is not divisible by 4, that is, n=4j+i, where i≤3, then take Q 3 =(W nj +W n-j+1 )/2 ; 步骤五、计算角速度数据序列的内围[X1,X2]和外围[Y1,Y2]Step 5. Calculate the inner [X 1 , X 2 ] and outer [Y 1 , Y 2 ] of the angular velocity data sequence X1=Q1-1.5(Q2-Q1)，X2=Q3+1.5(Q2-Q1)，X 1 =Q 1 -1.5(Q 2 -Q 1 ), X 2 =Q 3 +1.5(Q 2 -Q 1 ), Y1=Q1-3(Q2-Q1)，Y2=Q3+3(Q2-Q1)；Y 1 =Q 1 -3(Q 2 -Q 1 ), Y 2 =Q 3 +3(Q 2 -Q 1 ); 步骤六，异常角速度数据剔除，将角速度数据序列[W1、W2……Wn]中既不在内围[X1,X2]又不在外围[Y1,Y2]的数据作为异常值全部剔除；Step 6 : Abnormal angular velocity data is eliminated, and the data in the angular velocity data sequence [ W 1 , W 2 ...... remove all; 步骤七、将剔除了异常值的各角速度数据取平均值作为检测得到的角速度数据。Step 7: Taking the average value of each angular velocity data from which the abnormal value has been eliminated as the detected angular velocity data.
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